package edu.wpi.first.wpilibj.positioning;

import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.frc.Robot;

/**
 *
 * @author 8349
 */
public class Pathfinder12 implements ManualPathfinder{
    
    @Override
    public Path getPath(PositionHandler where, long time) {
        throw new UnsupportedOperationException("Not supported yet.");
    }
    
    @Override
    public Path getPath(PositionHandler where, long time, Joystick leftTank, Joystick rightTank){
        if (!Robot.robot.isAutonomous()){
            return getPath (where, time);
        }
        double xamount = leftTank.getRawAxis(2);
        double yamount = leftTank.getRawAxis(4);
        Coordinates c = new Coordinates(where.getX() + xamount, where.getY() + yamount, 0, 0, yamount);
        return new Path(c);
    }
    
}
